It is most likely an exhaust heat shield or a catalytic converter that is breaing apart inside. Get underthe van when it has cooled off and "thump" the exhaust with your fist to see if you can locate the rattle. Often, the heat shield welds break where they are attached to the catalytic converter. I have fixed many of them by taking 2 or 3 large screw-type hose clamps and screwing them together to make them long enough to reach all the way around the catalytic converter and tighten them down to stop the rattle. If the noise sounds like it is coming from INSIDE the converter, you will have to replace the catalyst. (or ignore the noise)
Your exhaust is most likely loose or falling apart.
SOURCE: Rattle
Jack up the car when exhaust is cold, grab any heat shields to see if they are loose. You can also tap them with something to see if they vibrate. It's very common for the heat shield to rust and a corner can break free, making the annoying rattle. I've fixed this with a coat hanger cut to secure the loose shield, or a screw installed to hold it tight.
SOURCE: rattling noise under the van when idle and driving
Exhaust pipe heat shield or bracket/hangers.
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